diff --git a/ArduRover/CarStampede.h b/ArduRover/CarStampede.h
index 9cb4b6792b..0e319436de 100644
--- a/ArduRover/CarStampede.h
+++ b/ArduRover/CarStampede.h
@@ -41,7 +41,7 @@ static const Matrix3f compassOrientation = AP_COMPASS_COMPONENTS_UP_PINS_FORWARD
 // compass orientation: See AP_Compass_HMC5843.h for possible values
 
 // battery monitoring
-static const bool batteryMonitorEnabled = true;
+static const bool batteryMonitorEnabled = false;
 static const uint8_t batteryPin = 0;
 static const float batteryVoltageDivRatio = 6;
 static const float batteryMinVolt = 10.0;
diff --git a/ArduRover/ControllerCar.h b/ArduRover/ControllerCar.h
index 860281790a..c1951cf786 100644
--- a/ArduRover/ControllerCar.h
+++ b/ArduRover/ControllerCar.h
@@ -44,6 +44,7 @@ private:
         _thrustCmd = _hal->rc[ch_thrust]->getRadioPosition();
     }
     void autoLoop(const float dt) {
+        //_hal->debug->printf_P(PSTR("cont: ch1: %f\tch2: %f\n"),_hal->rc[ch_thrust]->getRadioPosition(), _hal->rc[ch_str]->getRadioPosition());
         _strCmd = pidStr.update(_guide->getHeadingError(), _nav->getYawRate(), dt);
         _thrustCmd = pidThrust.update(
                          _guide->getGroundSpeedCommand()
diff --git a/apo/PlaneEasystar.h b/apo/PlaneEasystar.h
index 7273922a61..54e331f84d 100644
--- a/apo/PlaneEasystar.h
+++ b/apo/PlaneEasystar.h
@@ -40,7 +40,7 @@ static const Matrix3f compassOrientation = AP_COMPASS_COMPONENTS_UP_PINS_FORWARD
 // compass orientation: See AP_Compass_HMC5843.h for possible values
 
 // battery monitoring
-static const bool batteryMonitorEnabled = true;
+static const bool batteryMonitorEnabled = false;
 static const uint8_t batteryPin = 0;
 static const float batteryVoltageDivRatio = 6;
 static const float batteryMinVolt = 10.0;
diff --git a/apo/apo.pde b/apo/apo.pde
index a413f824e3..cdd4455bfd 100644
--- a/apo/apo.pde
+++ b/apo/apo.pde
@@ -17,8 +17,8 @@
 #include <WProgram.h>
 
 // Vehicle Configuration
-#include "QuadArducopter.h"
-//#include "PlaneEasystar.h"
+//#include "QuadArducopter.h"
+#include "PlaneEasystar.h"
 
 // ArduPilotOne Default Setup
 #include "APO_DefaultSetup.h"
diff --git a/libraries/APM_BMP085/APM_BMP085.h b/libraries/APM_BMP085/APM_BMP085.h
index 7b75c7c865..fb44e68a8c 100644
--- a/libraries/APM_BMP085/APM_BMP085.h
+++ b/libraries/APM_BMP085/APM_BMP085.h
@@ -4,7 +4,7 @@
 #define TEMP_FILTER_SIZE 16
 #define PRESS_FILTER_SIZE 10
 
-#include <APM_BMP085_hil.h>
+#include "APM_BMP085_hil.h"
 
 class APM_BMP085_Class
 {
diff --git a/libraries/APO/APO.h b/libraries/APO/APO.h
index c39be87e2c..360b93dada 100644
--- a/libraries/APO/APO.h
+++ b/libraries/APO/APO.h
@@ -17,5 +17,9 @@
 #include "AP_RcChannel.h"
 #include "AP_BatteryMonitor.h"
 #include "AP_ArmingMechanism.h"
+#include "AP_CommLink.h"
+#include "AP_Var_keys.h"
+#include "constants.h"
 
 #endif /* APO_H_ */
+// vim:ts=4:sw=4:expandtab
diff --git a/libraries/APO/APO_DefaultSetup.h b/libraries/APO/APO_DefaultSetup.h
index 14661b2f22..82ee0250b8 100644
--- a/libraries/APO/APO_DefaultSetup.h
+++ b/libraries/APO/APO_DefaultSetup.h
@@ -181,3 +181,4 @@ void loop() {
 }
 
 #endif //_APO_COMMON_H
+// vim:ts=4:sw=4:expandtab
diff --git a/libraries/APO/AP_ArmingMechanism.cpp b/libraries/APO/AP_ArmingMechanism.cpp
index ffd7d0a886..f319a6d91e 100644
--- a/libraries/APO/AP_ArmingMechanism.cpp
+++ b/libraries/APO/AP_ArmingMechanism.cpp
@@ -13,7 +13,7 @@
 namespace apo {
 
 void AP_ArmingMechanism::update(const float dt) {
-
+    //_hal->debug->printf_P(PSTR("ch1: %f\tch2: %f\n"),_hal->rc[_ch1]->getRadioPosition(), _hal->rc[_ch2]->getRadioPosition());
     // arming
     if ( (_hal->getState() != MAV_STATE_ACTIVE) &&
             (fabs(_hal->rc[_ch1]->getRadioPosition()) < _ch1Min) &&
diff --git a/libraries/APO/AP_Autopilot.cpp b/libraries/APO/AP_Autopilot.cpp
index e7f943d32a..07c909d637 100644
--- a/libraries/APO/AP_Autopilot.cpp
+++ b/libraries/APO/AP_Autopilot.cpp
@@ -5,9 +5,27 @@
  *      Author: jgoppert
  */
 
+/*
+ * AVR runtime
+ */
+//#include <avr/io.h>
+//#include <avr/eeprom.h>
+//#include <avr/pgmspace.h>
+//#include <math.h>
+
+#include "../FastSerial/FastSerial.h"
 #include "AP_Autopilot.h"
+#include "../AP_GPS/AP_GPS.h"
+#include "../APM_RC/APM_RC.h"
+#include "AP_HardwareAbstractionLayer.h"
+#include "AP_CommLink.h"
+#include "AP_MavlinkCommand.h"
+#include "AP_Navigator.h"
+#include "AP_Controller.h"
+#include "AP_Guide.h"
 #include "AP_BatteryMonitor.h"
 
+
 namespace apo {
 
 class AP_HardwareAbstractionLayer;
@@ -252,3 +270,4 @@ void AP_Autopilot::callback3(void * data) {
 }
 
 } // apo
+// vim:ts=4:sw=4:expandtab
diff --git a/libraries/APO/AP_Autopilot.h b/libraries/APO/AP_Autopilot.h
index 5fa9578c92..b48737d81b 100644
--- a/libraries/APO/AP_Autopilot.h
+++ b/libraries/APO/AP_Autopilot.h
@@ -8,38 +8,7 @@
 #ifndef AP_AUTOPILOT_H_
 #define AP_AUTOPILOT_H_
 
-/*
- * AVR runtime
- */
-#include <avr/io.h>
-#include <avr/eeprom.h>
-#include <avr/pgmspace.h>
-#include <math.h>
-/*
- * Libraries
- */
-#include "../AP_Common/AP_Common.h"
-#include "../FastSerial/FastSerial.h"
-#include "../AP_GPS/GPS.h"
-#include "../APM_RC/APM_RC.h"
-#include "../AP_ADC/AP_ADC.h"
-#include "../APM_BMP085/APM_BMP085.h"
-#include "../AP_Compass/AP_Compass.h"
-#include "../AP_Math/AP_Math.h"
-#include "../AP_IMU/AP_IMU.h"
-#include "../AP_DCM/AP_DCM.h"
 #include "../AP_Common/AP_Loop.h"
-#include "../GCS_MAVLink/GCS_MAVLink.h"
-#include "../AP_RangeFinder/AP_RangeFinder.h"
-/*
- * Local Modules
- */
-#include "AP_HardwareAbstractionLayer.h"
-#include "AP_RcChannel.h"
-#include "AP_Controller.h"
-#include "AP_Navigator.h"
-#include "AP_Guide.h"
-#include "AP_CommLink.h"
 
 /**
  * ArduPilotOne namespace to protect variables
@@ -50,7 +19,10 @@
 namespace apo {
 
 // forward declarations
-class AP_CommLink;
+class AP_Navigator;
+class AP_Guide;
+class AP_Controller;
+class AP_HardwareAbstractionLayer;
 
 /**
  * This class encapsulates the entire autopilot system
@@ -152,3 +124,4 @@ private:
 } // namespace apo
 
 #endif /* AP_AUTOPILOT_H_ */
+// vim:ts=4:sw=4:expandtab
diff --git a/libraries/APO/AP_BatteryMonitor.h b/libraries/APO/AP_BatteryMonitor.h
index 96b94bc46d..359320a368 100644
--- a/libraries/APO/AP_BatteryMonitor.h
+++ b/libraries/APO/AP_BatteryMonitor.h
@@ -49,5 +49,4 @@ private:
 } // namespace apo
 
 #endif /* AP_BATTERYMONITOR_H_ */
-
 // vim:ts=4:sw=4:expandtab
diff --git a/libraries/APO/AP_CommLink.cpp b/libraries/APO/AP_CommLink.cpp
index cdba1208b1..a18b91594a 100644
--- a/libraries/APO/AP_CommLink.cpp
+++ b/libraries/APO/AP_CommLink.cpp
@@ -10,6 +10,7 @@
 #include "AP_Navigator.h"
 #include "AP_Guide.h"
 #include "AP_Controller.h"
+#include "AP_MavlinkCommand.h"
 #include "AP_HardwareAbstractionLayer.h"
 #include "AP_RcChannel.h"
 #include "../AP_GPS/AP_GPS.h"
@@ -719,3 +720,4 @@ uint8_t MavlinkComm::_checkTarget(uint8_t sysid, uint8_t compid) {
 }
 
 } // apo
+// vim:ts=4:sw=4:expandtab
diff --git a/libraries/APO/AP_CommLink.h b/libraries/APO/AP_CommLink.h
index a05a00be4f..76b4c5e772 100644
--- a/libraries/APO/AP_CommLink.h
+++ b/libraries/APO/AP_CommLink.h
@@ -22,7 +22,7 @@
 #include <inttypes.h>
 #include "../AP_Common/AP_Common.h"
 #include "../AP_Common/AP_Vector.h"
-#include "AP_MavlinkCommand.h"
+#include "../GCS_MAVLink/GCS_MAVLink.h"
 
 class FastSerial;
 
diff --git a/libraries/APO/AP_Controller.cpp b/libraries/APO/AP_Controller.cpp
index f9db002a78..933727a3d5 100644
--- a/libraries/APO/AP_Controller.cpp
+++ b/libraries/APO/AP_Controller.cpp
@@ -120,3 +120,4 @@ void AP_Controller::setMotors() {
 
 
 } // namespace apo
+// vim:ts=4:sw=4:expandtab
diff --git a/libraries/APO/AP_Guide.h b/libraries/APO/AP_Guide.h
index 9573b255b9..72a8d1b115 100644
--- a/libraries/APO/AP_Guide.h
+++ b/libraries/APO/AP_Guide.h
@@ -146,6 +146,4 @@ private:
 } // namespace apo
 
 #endif // AP_Guide_H
-
 // vim:ts=4:sw=4:expandtab
-
diff --git a/libraries/APO/AP_HardwareAbstractionLayer.cpp b/libraries/APO/AP_HardwareAbstractionLayer.cpp
index afa06769ab..9939e90e57 100644
--- a/libraries/APO/AP_HardwareAbstractionLayer.cpp
+++ b/libraries/APO/AP_HardwareAbstractionLayer.cpp
@@ -6,3 +6,4 @@
  */
 
 #include "AP_HardwareAbstractionLayer.h"
+// vim:ts=4:sw=4:expandtab
diff --git a/libraries/APO/AP_HardwareAbstractionLayer.h b/libraries/APO/AP_HardwareAbstractionLayer.h
index 7bbb3e406b..9b3b9e2810 100644
--- a/libraries/APO/AP_HardwareAbstractionLayer.h
+++ b/libraries/APO/AP_HardwareAbstractionLayer.h
@@ -170,6 +170,7 @@ private:
     MAV_STATE _state;
 };
 
-}
+} // namespace apo
 
 #endif /* AP_HARDWAREABSTRACTIONLAYER_H_ */
+// vim:ts=4:sw=4:expandtab
diff --git a/libraries/APO/AP_MavlinkCommand.cpp b/libraries/APO/AP_MavlinkCommand.cpp
index e95f21572f..9fd6cd5627 100644
--- a/libraries/APO/AP_MavlinkCommand.cpp
+++ b/libraries/APO/AP_MavlinkCommand.cpp
@@ -5,6 +5,7 @@
  *      Author: jgoppert
  */
 
+#include "../FastSerial/FastSerial.h"
 #include "AP_MavlinkCommand.h"
 
 namespace apo {
@@ -204,4 +205,5 @@ float AP_MavlinkCommand::alongTrack(const AP_MavlinkCommand & previous,
 
 AP_MavlinkCommand AP_MavlinkCommand::home = AP_MavlinkCommand(0,false);
 
-}
+} // namespace apo
+// vim:ts=4:sw=4:expandtab
diff --git a/libraries/APO/AP_MavlinkCommand.h b/libraries/APO/AP_MavlinkCommand.h
index 067ad0c2d2..cf4beb47dd 100644
--- a/libraries/APO/AP_MavlinkCommand.h
+++ b/libraries/APO/AP_MavlinkCommand.h
@@ -12,7 +12,6 @@
 #include "../AP_Common/AP_Common.h"
 #include "AP_Var_keys.h"
 #include "constants.h"
-#include "../FastSerial/FastSerial.h"
 
 namespace apo {
 
@@ -373,3 +372,4 @@ public:
 
 
 #endif /* AP_MAVLINKCOMMAND_H_ */
+// vim:ts=4:sw=4:expandtab
diff --git a/libraries/APO/AP_Navigator.cpp b/libraries/APO/AP_Navigator.cpp
index 08abd70b67..70a2f3289c 100644
--- a/libraries/APO/AP_Navigator.cpp
+++ b/libraries/APO/AP_Navigator.cpp
@@ -15,6 +15,7 @@
 #include "AP_Var_keys.h"
 #include "../AP_RangeFinder/AP_RangeFinder.h"
 #include "../AP_IMU/AP_IMU.h"
+#include "../APM_BMP085/APM_BMP085_hil.h"
 #include "../APM_BMP085/APM_BMP085.h"
 
 namespace apo {
@@ -204,3 +205,4 @@ void DcmNavigator::updateGpsLight(void) {
 }
 
 } // namespace apo
+// vim:ts=4:sw=4:expandtab
diff --git a/libraries/APO/AP_RcChannel.cpp b/libraries/APO/AP_RcChannel.cpp
index 122324b563..1a88f887ce 100644
--- a/libraries/APO/AP_RcChannel.cpp
+++ b/libraries/APO/AP_RcChannel.cpp
@@ -100,3 +100,4 @@ float AP_RcChannel::_pwmToPosition(const uint16_t & pwm) {
 }
 
 } // namespace apo
+// vim:ts=4:sw=4:expandtab
diff --git a/libraries/APO/AP_RcChannel.h b/libraries/APO/AP_RcChannel.h
index d2eea1a153..38cc05df9a 100644
--- a/libraries/APO/AP_RcChannel.h
+++ b/libraries/APO/AP_RcChannel.h
@@ -82,3 +82,4 @@ protected:
 } // apo
 
 #endif	// AP_RCCHANNEL_H
+// vim:ts=4:sw=4:expandtab
diff --git a/libraries/APO/AP_Var_keys.h b/libraries/APO/AP_Var_keys.h
index 19f9508f81..40ebf99620 100644
--- a/libraries/APO/AP_Var_keys.h
+++ b/libraries/APO/AP_Var_keys.h
@@ -22,3 +22,4 @@ enum keys {
 // max 256 keys
 
 #endif
+// vim:ts=4:sw=4:expandtab
diff --git a/libraries/APO/constants.h b/libraries/APO/constants.h
index 2a4316bcb3..27f03c50b8 100644
--- a/libraries/APO/constants.h
+++ b/libraries/APO/constants.h
@@ -21,3 +21,4 @@ const float degInt2Rad = deg2Rad / scale_deg; // degrees x 1e7 to radians
 #define MAV_MODE_FAILSAFE MAV_MODE_TEST3
 
 #endif /* CONSTANTS_H_ */
+// vim:ts=4:sw=4:expandtab
diff --git a/libraries/APO/examples/ServoManual/ServoManual.pde b/libraries/APO/examples/ServoManual/ServoManual.pde
index 56f2917389..d8abddc9ca 100644
--- a/libraries/APO/examples/ServoManual/ServoManual.pde
+++ b/libraries/APO/examples/ServoManual/ServoManual.pde
@@ -38,28 +38,28 @@ public:
         testPosition(2), testSign(1) {
         ch.push_back(
             new AP_RcChannel(rollKey, PSTR("ROLL"), APM_RC, 0, 1100, 1500,
-                             1900));
+                             1900, RC_MODE_INOUT, false));
         ch.push_back(
             new AP_RcChannel(pitchKey, PSTR("PITCH"), APM_RC, 1, 1100,
-                             1500, 1900));
+                             1500, 1900, RC_MODE_INOUT, false));
         ch.push_back(
             new AP_RcChannel(thrKey, PSTR("THR"), APM_RC, 2, 1100, 1500,
-                             1900));
+                             1900, RC_MODE_INOUT, false));
         ch.push_back(
             new AP_RcChannel(yawKey, PSTR("YAW"), APM_RC, 3, 1100, 1500,
-                             1900));
+                             1900, RC_MODE_INOUT, false));
         ch.push_back(
             new AP_RcChannel(ch5Key, PSTR("CH5"), APM_RC, 4, 1100, 1500,
-                             1900));
+                             1900, RC_MODE_INOUT, false));
         ch.push_back(
             new AP_RcChannel(ch6Key, PSTR("CH6"), APM_RC, 5, 1100, 1500,
-                             1900));
+                             1900, RC_MODE_INOUT, false));
         ch.push_back(
             new AP_RcChannel(ch7Key, PSTR("CH7"), APM_RC, 6, 1100, 1500,
-                             1900));
+                             1900, RC_MODE_INOUT, false));
         ch.push_back(
             new AP_RcChannel(ch8Key, PSTR("CH8"), APM_RC, 7, 1100, 1500,
-                             1900));
+                             1900, RC_MODE_INOUT, false));
 
         Serial.begin(115200);
         delay(2000);
diff --git a/libraries/APO/examples/ServoSweep/ServoSweep.pde b/libraries/APO/examples/ServoSweep/ServoSweep.pde
index 1f8744d793..fa6f7b746e 100644
--- a/libraries/APO/examples/ServoSweep/ServoSweep.pde
+++ b/libraries/APO/examples/ServoSweep/ServoSweep.pde
@@ -38,28 +38,28 @@ public:
         testPosition(2), testSign(1) {
         ch.push_back(
             new AP_RcChannel(rollKey, PSTR("ROLL"), APM_RC, 0, 1100, 1500,
-                             1900));
+                             1900,RC_MODE_INOUT,false));
         ch.push_back(
             new AP_RcChannel(pitchKey, PSTR("PITCH"), APM_RC, 1, 1100,
-                             1500, 1900));
+                             1500, 1900,RC_MODE_INOUT,false));
         ch.push_back(
             new AP_RcChannel(thrKey, PSTR("THR"), APM_RC, 2, 1100, 1500,
-                             1900));
+                             1900,RC_MODE_INOUT,false));
         ch.push_back(
             new AP_RcChannel(yawKey, PSTR("YAW"), APM_RC, 3, 1100, 1500,
-                             1900));
+                             1900,RC_MODE_INOUT,false));
         ch.push_back(
             new AP_RcChannel(ch5Key, PSTR("CH5"), APM_RC, 4, 1100, 1500,
-                             1900));
+                             1900,RC_MODE_INOUT,false));
         ch.push_back(
             new AP_RcChannel(ch6Key, PSTR("CH6"), APM_RC, 5, 1100, 1500,
-                             1900));
+                             1900,RC_MODE_INOUT,false));
         ch.push_back(
             new AP_RcChannel(ch7Key, PSTR("CH7"), APM_RC, 6, 1100, 1500,
-                             1900));
+                             1900,RC_MODE_INOUT,false));
         ch.push_back(
             new AP_RcChannel(ch8Key, PSTR("CH8"), APM_RC, 7, 1100, 1500,
-                             1900));
+                             1900,RC_MODE_INOUT,false));
 
         Serial.begin(115200);
         delay(2000);